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https://gitee.com/xiaohuolufeihua/bizhang_-obav.git
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56 lines
1.4 KiB
Bash
56 lines
1.4 KiB
Bash
#!/bin/sh
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#
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# @name HolyBro QAV250
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#
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# @url https://docs.px4.io/master/en/frames_multicopter/holybro_qav250_pixhawk4_mini.html
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#
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# @type Quadrotor x
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# @class Copter
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#
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# @maintainer Beat Kueng <beat-kueng@gmx.net>
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#
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# @board px4_fmu-v2 exclude
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# @board bitcraze_crazyflie exclude
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#
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. ${R}etc/init.d/rc.mc_defaults
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set MIXER quad_x
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set PWM_OUT 1234
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# The set does not include a battery, but most people will probably use 4S
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param set-default BAT_N_CELLS 4
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param set-default IMU_GYRO_CUTOFF 120
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param set-default IMU_DGYRO_CUTOFF 45
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param set-default MC_AIRMODE 1
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param set-default MC_PITCHRATE_D 0.0012
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param set-default MC_PITCHRATE_I 0.35
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param set-default MC_PITCHRATE_MAX 1200
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param set-default MC_PITCHRATE_P 0.082
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param set-default MC_PITCH_P 8
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param set-default MC_ROLLRATE_D 0.0012
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param set-default MC_ROLLRATE_I 0.3
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param set-default MC_ROLLRATE_MAX 1200
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param set-default MC_ROLLRATE_P 0.076
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param set-default MC_ROLL_P 8
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param set-default MC_YAWRATE_I 0.3
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param set-default MC_YAWRATE_MAX 600
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param set-default MC_YAWRATE_P 0.25
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param set-default MC_YAW_P 4
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param set-default MPC_MANTHR_MIN 0
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param set-default MPC_MAN_TILT_MAX 60
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param set-default MPC_THR_CURVE 1
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param set-default MPC_THR_HOVER 0.25
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param set-default MPC_THR_MIN 0.05
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param set-default MPC_Z_VEL_I_ACC 1.7
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param set-default PWM_MAIN_MAX 1950
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param set-default PWM_MAIN_MIN 1050
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param set-default PWM_MAIN_RATE 0
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param set-default THR_MDL_FAC 0.3
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